1. Setup

   1.1. install docker image candybot_vr

    sudo docker pull funrobots/candybot_vr
   

   1.2. install python3 libraries in docker:

    pip3 install luma.core git+https://github.com/adafruit/Adafruit_Python_PCA9685.git
   

   1.3. Run candybot_vr image

   sudo docker run -ti --privileged --device /dev:/dev candybot_vr

   1.4. Run candybot_v2 ROS package (in docker container):

    1.4.1. create catkin workspace:
    
    		mkdir -p ~/catkin_ws/src
    	
    		cd ~/catkin_ws
    	
    		catkin_make
   
    1.4.2. clone candybot_v2 package:
    		
    		cd ~/catkin_ws/src
    
    		git clone https://github.com/FunRobots/candybot_v2.git
    
    1.4.3. run candybot_v2 package:
   
    		cd ~/catkin_ws
    
    		rosrun candybot_v2 run.py
   
    1.4.4. run just one candybot_v2 package node:
    
    		roscore
    
    		in another terminal (see point 3):
    	
    			cd ~/catkin_ws
    	
    			source devel/setup.bash
    	
    			rosrun candybot_v2 <node_name>
   

   1.5. save changes in docker image (commit):

    in Raspbian terminal:
    	
    	- list containers and copy candybot_vr id:
    		
    		sudo docker container ls
    		
    	- commit changes:
    		
    		sudo docker commit <candybot_id> <your_image_name>
    		
    			(you can save source container locally with any name)
   

2. Open new terminal in running candybot_vr docker container:

   in new window (for example, in new browser tab with dataplicity.com):

    sudo docker exec -ti candybot_vr /bin/bash
   

3. Run tests (in running docker container candybot_vr):

   0. in the first terminal run roscore

   in other terminals:

   1. go into folder catkin_ws:

      cd ~/catkin_ws

   2. export packages setups:

      source devel/setup.bash

   3. to run tests:

      3.1.сommon way to run test:

       	rosrun candybot_v2 <test_file_name>
      

      3.2. some tests require the tested module to be started

       in this case:
      
       1. run the test module (for example, motion_<part>_controller.py)
      
       2. in another terminal (see 3.) do 4.1 - 4.3.1